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|
/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* Contributor(s): Full recode, Ton Roosendaal, Crete 2005
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <stdio.h>
#include "MEM_guardedalloc.h"
#include "nla.h"
#include "BLI_arithb.h"
#include "BLI_blenlib.h"
#include "DNA_mesh_types.h"
#include "DNA_meshdata_types.h"
#include "DNA_armature_types.h"
#include "DNA_action_types.h"
#include "DNA_object_types.h"
#include "DNA_scene_types.h"
#include "DNA_view3d_types.h"
#include "DNA_constraint_types.h"
#include "BKE_curve.h"
#include "BKE_depsgraph.h"
#include "BKE_displist.h"
#include "BKE_global.h"
#include "BKE_main.h"
#include "BKE_library.h"
#include "BKE_blender.h"
#include "BKE_armature.h"
#include "BKE_action.h"
#include "BKE_constraint.h"
#include "BKE_object.h"
#include "BKE_object.h"
#include "BKE_deform.h"
#include "BKE_utildefines.h"
#include "BIF_editdeform.h"
#include "IK_solver.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
/* ugly Globals */
static float g_premat[4][4];
static float g_postmat[4][4];
static MDeformVert *g_dverts;
static ListBase *g_defbase;
static Object *g_deform;
/* **************** Generic Functions, data level *************** */
bArmature *get_armature(Object *ob)
{
if(ob==NULL) return NULL;
if(ob->type==OB_ARMATURE) return ob->data;
else return NULL;
}
bArmature *add_armature()
{
bArmature *arm;
arm= alloc_libblock (&G.main->armature, ID_AR, "Armature");
return arm;
}
void free_boneChildren(Bone *bone)
{
Bone *child;
if (bone) {
child=bone->childbase.first;
if (child){
while (child){
free_boneChildren (child);
child=child->next;
}
BLI_freelistN (&bone->childbase);
}
}
}
void free_bones (bArmature *arm)
{
Bone *bone;
/* Free children (if any) */
bone= arm->bonebase.first;
if (bone) {
while (bone){
free_boneChildren (bone);
bone=bone->next;
}
}
BLI_freelistN(&arm->bonebase);
}
void free_armature(bArmature *arm)
{
if (arm) {
/* unlink_armature(arm);*/
free_bones(arm);
}
}
void make_local_armature(bArmature *arm)
{
int local=0, lib=0;
Object *ob;
bArmature *newArm;
if (arm->id.lib==0)
return;
if (arm->id.us==1) {
arm->id.lib= 0;
arm->id.flag= LIB_LOCAL;
new_id(0, (ID*)arm, 0);
return;
}
if(local && lib==0) {
arm->id.lib= 0;
arm->id.flag= LIB_LOCAL;
new_id(0, (ID *)arm, 0);
}
else if(local && lib) {
newArm= copy_armature(arm);
newArm->id.us= 0;
ob= G.main->object.first;
while(ob) {
if(ob->data==arm) {
if(ob->id.lib==0) {
ob->data= newArm;
newArm->id.us++;
arm->id.us--;
}
}
ob= ob->id.next;
}
}
}
static void copy_bonechildren (Bone* newBone, Bone* oldBone)
{
Bone *curBone, *newChildBone;
/* Copy this bone's list*/
duplicatelist (&newBone->childbase, &oldBone->childbase);
/* For each child in the list, update it's children*/
newChildBone=newBone->childbase.first;
for (curBone=oldBone->childbase.first;curBone;curBone=curBone->next){
newChildBone->parent=newBone;
copy_bonechildren(newChildBone,curBone);
newChildBone=newChildBone->next;
}
}
bArmature *copy_armature(bArmature *arm)
{
bArmature *newArm;
Bone *oldBone, *newBone;
newArm= copy_libblock (arm);
duplicatelist(&newArm->bonebase, &arm->bonebase);
/* Duplicate the childrens' lists*/
newBone=newArm->bonebase.first;
for (oldBone=arm->bonebase.first;oldBone;oldBone=oldBone->next){
newBone->parent=NULL;
copy_bonechildren (newBone, oldBone);
newBone=newBone->next;
};
return newArm;
}
static Bone *get_named_bone_bonechildren (Bone *bone, const char *name)
{
Bone *curBone, *rbone;
if (!strcmp (bone->name, name))
return bone;
for (curBone=bone->childbase.first; curBone; curBone=curBone->next){
rbone=get_named_bone_bonechildren (curBone, name);
if (rbone)
return rbone;
}
return NULL;
}
Bone *get_named_bone (bArmature *arm, const char *name)
/*
Walk the list until the bone is found
*/
{
Bone *bone=NULL, *curBone;
if (!arm) return NULL;
for (curBone=arm->bonebase.first; curBone; curBone=curBone->next){
bone = get_named_bone_bonechildren (curBone, name);
if (bone)
return bone;
}
return bone;
}
/* ************* B-Bone support ******************* */
#define MAX_BBONE_SUBDIV 32
/* data has MAX_BBONE_SUBDIV+1 interpolated points, will become desired amount with equal distances */
static void equalize_bezier(float *data, int desired)
{
float *fp, totdist, ddist, dist, fac1, fac2;
float pdist[MAX_BBONE_SUBDIV+1];
float temp[MAX_BBONE_SUBDIV+1][4];
int a, nr;
pdist[0]= 0.0f;
for(a=0, fp= data; a<MAX_BBONE_SUBDIV; a++, fp+=4) {
QUATCOPY(temp[a], fp);
pdist[a+1]= pdist[a]+VecLenf(fp, fp+4);
}
/* do last point */
QUATCOPY(temp[a], fp);
totdist= pdist[a];
/* go over distances and calculate new points */
ddist= totdist/((float)desired);
nr= 1;
for(a=1, fp= data+4; a<desired; a++, fp+=4) {
dist= ((float)a)*ddist;
/* we're looking for location (distance) 'dist' in the array */
while((dist>= pdist[nr]) && nr<MAX_BBONE_SUBDIV) {
nr++;
}
fac1= pdist[nr]- pdist[nr-1];
fac2= pdist[nr]-dist;
fac1= fac2/fac1;
fac2= 1.0f-fac1;
fp[0]= fac1*temp[nr-1][0]+ fac2*temp[nr][0];
fp[1]= fac1*temp[nr-1][1]+ fac2*temp[nr][1];
fp[2]= fac1*temp[nr-1][2]+ fac2*temp[nr][2];
fp[3]= fac1*temp[nr-1][3]+ fac2*temp[nr][3];
}
/* set last point, needed for orientation calculus */
QUATCOPY(fp, temp[MAX_BBONE_SUBDIV]);
}
/* returns pointer to static array, filled with desired amount of bone->segments elements */
/* this calculation is done within pchan pose_mat space */
Mat4 *b_bone_spline_setup(bPoseChannel *pchan)
{
static Mat4 bbone_array[MAX_BBONE_SUBDIV];
bPoseChannel *next, *prev;
Bone *bone= pchan->bone;
float h1[3], h2[3], length, hlength1, hlength2, roll;
float mat3[3][3], imat[4][4];
float data[MAX_BBONE_SUBDIV+1][4], *fp;
int a;
length= bone->length;
hlength1= bone->ease1*length*0.390464f; // 0.5*sqrt(2)*kappa, the handle length for near-perfect circles
hlength2= bone->ease2*length*0.390464f;
/* evaluate next and prev bones */
if(bone->flag & BONE_IK_TOPARENT)
prev= pchan->parent;
else
prev= NULL;
next= pchan->child;
/* find the handle points, since this is inside bone space, the
first point = (0,0,0)
last point = (0, length, 0) */
Mat4Invert(imat, pchan->pose_mat);
if(prev) {
/* transform previous point inside this bone space */
VECCOPY(h1, prev->pose_head);
Mat4MulVecfl(imat, h1);
/* if previous bone is B-bone too, use average handle direction */
if(prev->bone->segments>1) h1[1]-= length;
Normalise(h1);
VecMulf(h1, -hlength1);
}
else {
h1[0]= 0.0f; h1[1]= hlength1; h1[2]= 0.0f;
}
if(next) {
float difmat[4][4], result[3][3], imat3[3][3];
/* transform next point inside this bone space */
VECCOPY(h2, next->pose_tail);
Mat4MulVecfl(imat, h2);
/* if next bone is B-bone too, use average handle direction */
if(next->bone->segments>1);
else h2[1]-= length;
/* find the next roll to interpolate as well */
Mat4MulMat4(difmat, next->pose_mat, imat);
Mat3CpyMat4(result, difmat); // the desired rotation at beginning of next bone
vec_roll_to_mat3(h2, 0.0f, mat3); // the result of vec_roll without roll
Mat3Inv(imat3, mat3);
Mat3MulMat3(mat3, imat3, result); // the matrix transforming vec_roll to desired roll
roll= atan2(mat3[2][0], mat3[2][2]);
/* and only now negate handle */
Normalise(h2);
VecMulf(h2, -hlength2);
}
else {
h2[0]= 0.0f; h2[1]= -hlength2; h2[2]= 0.0f;
roll= 0.0;
}
/* make curve */
if(bone->segments > MAX_BBONE_SUBDIV)
bone->segments= MAX_BBONE_SUBDIV;
forward_diff_bezier(0.0, h1[0], h2[0], 0.0, data[0], MAX_BBONE_SUBDIV, 4);
forward_diff_bezier(0.0, h1[1], length + h2[1], length, data[0]+1, MAX_BBONE_SUBDIV, 4);
forward_diff_bezier(0.0, h1[2], h2[2], 0.0, data[0]+2, MAX_BBONE_SUBDIV, 4);
forward_diff_bezier(0.0, 0.390464f*roll, (1.0f-0.390464f)*roll, roll, data[0]+3, MAX_BBONE_SUBDIV, 4);
equalize_bezier(data[0], bone->segments); // note: does stride 4!
/* make transformation matrices for the segments for drawing */
for(a=0, fp= data[0]; a<bone->segments; a++, fp+=4) {
VecSubf(h1, fp+4, fp);
vec_roll_to_mat3(h1, fp[3], mat3); // fp[3] is roll
Mat4CpyMat3(bbone_array[a].mat, mat3);
VECCOPY(bbone_array[a].mat[3], fp);
}
return bbone_array;
}
/* ************ Armature Deform ******************* */
void init_armature_deform(Object *parent, Object *ob)
{
bArmature *arm;
bDeformGroup *dg;
MDeformVert *dvert;
int totverts;
float obinv[4][4];
int i, j;
arm = get_armature(parent);
if (!arm)
return;
g_defbase = &ob->defbase;
g_deform = parent;
Mat4Invert(obinv, ob->obmat);
Mat4CpyMat4(g_premat, ob->obmat);
Mat4MulMat4(g_postmat, parent->obmat, obinv);
Mat4Invert (g_premat, g_postmat);
/* Store the deformation verts */
if (ob->type==OB_MESH){
g_dverts = ((Mesh*)ob->data)->dvert;
totverts = ((Mesh*)ob->data)->totvert;
}
else{
g_dverts=NULL;
totverts=0;
}
/* bone defmats are already in the channels, chan_mat */
/* Validate channel data in bDeformGroups */
for (dg=g_defbase->first; dg; dg=dg->next)
dg->data = (void*)get_pose_channel(parent->pose, dg->name);
if (g_dverts){
for (j=0; j<totverts; j++){
dvert = g_dverts+j;
for (i=0; i<dvert->totweight; i++){
bDeformGroup *fg;
fg = BLI_findlink (g_defbase, dvert->dw[i].def_nr);
if (fg)
dvert->dw[i].data = fg->data;
else
dvert->dw[i].data = NULL;
}
}
}
}
float dist_to_bone (float vec[3], float b1[3], float b2[3])
{
/* float dist=0; */
float bdelta[3];
float pdelta[3];
float hsqr, a, l;
VecSubf (bdelta, b2, b1);
l = Normalise (bdelta);
VecSubf (pdelta, vec, b1);
a = bdelta[0]*pdelta[0] + bdelta[1]*pdelta[1] + bdelta[2]*pdelta[2];
hsqr = ((pdelta[0]*pdelta[0]) + (pdelta[1]*pdelta[1]) + (pdelta[2]*pdelta[2]));
if (a < 0.0F){
//return 100000;
/* If we're past the end of the bone, do some weird field attenuation thing */
return ((b1[0]-vec[0])*(b1[0]-vec[0]) +(b1[1]-vec[1])*(b1[1]-vec[1]) +(b1[2]-vec[2])*(b1[2]-vec[2])) ;
}
else if (a > l){
//return 100000;
/* If we're past the end of the bone, do some weird field attenuation thing */
return ((b2[0]-vec[0])*(b2[0]-vec[0]) +(b2[1]-vec[1])*(b2[1]-vec[1]) +(b2[2]-vec[2])*(b2[2]-vec[2])) ;
}
else {
return (hsqr - (a*a));
}
}
static float calc_armature_deform_bone(Bone *bone, bPoseChannel *pchan, float *vec, float *co)
{
float dist, fac, ifac;
float cop[3];
float bdsqr, contrib=0.0;
bdsqr = bone->dist*bone->dist;
VECCOPY (cop, co);
dist = dist_to_bone(cop, bone->arm_head, bone->arm_tail);
if ((dist) <= bdsqr){
fac = (dist)/bdsqr;
ifac = 1.0F-fac;
ifac*=bone->weight;
contrib= ifac;
if(contrib>0.0) {
VECCOPY (cop, co);
Mat4MulVecfl(pchan->chan_mat, cop);
VecSubf (cop, cop, co); // Make this a delta from the base position
cop[0]*=ifac; cop[1]*=ifac; cop[2]*=ifac;
VecAddf (vec, vec, cop);
}
}
return contrib;
}
void calc_bone_deform (bPoseChannel *pchan, float weight, float *vec, float *co, float *contrib)
{
float cop[3];
if (!weight)
return;
VECCOPY (cop, co);
Mat4MulVecfl(pchan->chan_mat, cop);
vec[0]+=(cop[0]-co[0])*weight;
vec[1]+=(cop[1]-co[1])*weight;
vec[2]+=(cop[2]-co[2])*weight;
(*contrib)+=weight;
}
void calc_armature_deform (Object *ob, float *co, int index)
{
bPoseChannel *pchan;
MDeformVert *dvert = g_dverts+index;
float vec[3];
float contrib=0.0;
int i;
vec[0]=vec[1]=vec[2]=0;
/* Apply the object's matrix */
Mat4MulVecfl(g_premat, co);
/* using deform vertex groups */
if (g_dverts){
for (i=0; i<dvert->totweight; i++){
pchan = (bPoseChannel *)dvert->dw[i].data;
if (pchan) calc_bone_deform (pchan, dvert->dw[i].weight, vec, co, &contrib);
}
}
else { /* or use bone distances */
Bone *bone;
for(pchan= g_deform->pose->chanbase.first; pchan; pchan= pchan->next) {
bone= pchan->bone;
if(bone) {
contrib+= calc_armature_deform_bone(bone, pchan, vec, co);
}
}
}
if (contrib>0.0){
vec[0]/=contrib;
vec[1]/=contrib;
vec[2]/=contrib;
}
VecAddf (co, vec, co);
Mat4MulVecfl(g_postmat, co);
}
/* ************ END Armature Deform ******************* */
void get_objectspace_bone_matrix (struct Bone* bone, float M_accumulatedMatrix[][4], int root, int posed)
{
Mat4CpyMat4(M_accumulatedMatrix, bone->arm_mat);
}
/* **************** The new & simple (but OK!) armature evaluation ********* */
/* ****************** And how it works! ****************************************
This is the bone transformation trick; they're hierarchical so each bone(b)
is in the coord system of bone(b-1):
arm_mat(b)= arm_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b)
-> yoffs is just the y axis translation in parent's coord system
-> d_root is the translation of the bone root, also in parent's coord system
pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b)
we then - in init deform - store the deform in chan_mat, such that:
pose_mat(b)= arm_mat(b) * chan_mat(b)
*************************************************************************** */
/* Calculates the rest matrix of a bone based
On its vector and a roll around that vector */
void vec_roll_to_mat3(float *vec, float roll, float mat[][3])
{
float nor[3], axis[3], target[3]={0,1,0};
float theta;
float rMatrix[3][3], bMatrix[3][3];
VECCOPY (nor, vec);
Normalise (nor);
/* Find Axis & Amount for bone matrix*/
Crossf (axis,target,nor);
if (Inpf(axis,axis) > 0.0000000000001) {
/* if nor is *not* a multiple of target ... */
Normalise (axis);
theta=(float) acos (Inpf (target,nor));
/* Make Bone matrix*/
VecRotToMat3(axis, theta, bMatrix);
}
else {
/* if nor is a multiple of target ... */
float updown;
/* point same direction, or opposite? */
updown = ( Inpf (target,nor) > 0 ) ? 1.0 : -1.0;
/* I think this should work ... */
bMatrix[0][0]=updown; bMatrix[0][1]=0.0; bMatrix[0][2]=0.0;
bMatrix[1][0]=0.0; bMatrix[1][1]=updown; bMatrix[1][2]=0.0;
bMatrix[2][0]=0.0; bMatrix[2][1]=0.0; bMatrix[2][2]=1.0;
}
/* Make Roll matrix*/
VecRotToMat3(nor, roll, rMatrix);
/* Combine and output result*/
Mat3MulMat3 (mat, rMatrix, bMatrix);
}
/* recursive part, calculates restposition of entire tree of children */
/* used by exiting editmode too */
void where_is_armature_bone(Bone *bone, Bone *prevbone)
{
float vec[3];
/* Bone Space */
VecSubf (vec, bone->tail, bone->head);
vec_roll_to_mat3(vec, bone->roll, bone->bone_mat);
bone->length= VecLenf(bone->head, bone->tail);
/* this is called on old file reading too... */
if(bone->xwidth==0.0) {
bone->xwidth= 0.1f;
bone->zwidth= 0.1f;
bone->segments= 1;
}
if(prevbone) {
float offs_bone[4][4]; // yoffs(b-1) + root(b) + bonemat(b)
/* bone transform itself */
Mat4CpyMat3(offs_bone, bone->bone_mat);
/* The bone's root offset (is in the parent's coordinate system) */
VECCOPY(offs_bone[3], bone->head);
/* Get the length translation of parent (length along y axis) */
offs_bone[3][1]+= prevbone->length;
/* Compose the matrix for this bone */
Mat4MulMat4(bone->arm_mat, offs_bone, prevbone->arm_mat);
}
else {
Mat4CpyMat3(bone->arm_mat, bone->bone_mat);
VECCOPY(bone->arm_mat[3], bone->head);
}
/* head */
VECCOPY(bone->arm_head, bone->arm_mat[3]);
/* tail is in current local coord system */
VECCOPY(vec, bone->arm_mat[1]);
VecMulf(vec, bone->length);
VecAddf(bone->arm_tail, bone->arm_head, vec);
/* and the kiddies */
prevbone= bone;
for(bone= bone->childbase.first; bone; bone= bone->next) {
where_is_armature_bone(bone, prevbone);
}
}
/* updates vectors and matrices on rest-position level, only needed
after editing armature itself, now only on reading file */
void where_is_armature (bArmature *arm)
{
Bone *bone;
/* hierarchical from root to children */
for(bone= arm->bonebase.first; bone; bone= bone->next) {
where_is_armature_bone(bone, NULL);
}
}
static int rebuild_pose_bone(bPose *pose, Bone *bone, bPoseChannel *parchan, int counter)
{
bPoseChannel *pchan = verify_pose_channel (pose, bone->name); // verify checks and/or adds
pchan->bone= bone;
pchan->parent= parchan;
counter++;
for(bone= bone->childbase.first; bone; bone= bone->next) {
counter= rebuild_pose_bone(pose, bone, pchan, counter);
/* for quick detecting of next bone in chain */
if(bone->flag & BONE_IK_TOPARENT)
pchan->child= get_pose_channel(pose, bone->name);
}
return counter;
}
/* only after leave editmode, but also for validating older files */
/* NOTE: pose->flag is set for it */
void armature_rebuild_pose(Object *ob, bArmature *arm)
{
Bone *bone;
bPose *pose;
bPoseChannel *pchan, *next;
int counter=0;
/* only done here */
if(ob->pose==NULL) ob->pose= MEM_callocN(sizeof(bPose), "new pose");
pose= ob->pose;
/* clear */
for(pchan= pose->chanbase.first; pchan; pchan= pchan->next) {
pchan->bone= NULL;
pchan->child= NULL;
}
/* first step, check if all channels are there */
for(bone= arm->bonebase.first; bone; bone= bone->next) {
counter= rebuild_pose_bone(pose, bone, NULL, counter);
}
/* sort channels on dependency order, so we can walk the channel list */
/* and a check for garbage */
for(pchan= pose->chanbase.first; pchan; pchan= next) {
next= pchan->next;
if(pchan->bone==NULL) {
BLI_freelinkN(&pose->chanbase, pchan); // constraints?
}
}
//printf("rebuild pose, %d bones\n", counter);
if(counter<2) return;
update_pose_constraint_flags(ob->pose); // for IK detection for example
/* the sorting */
DAG_pose_sort(ob);
ob->pose->flag &= ~POSE_RECALC;
}
/* ********************** THE IK SOLVER ******************* */
/* allocates PoseChain, and links that to root bone/channel */
/* note; if we got this working, it can become static too? */
static void initialize_posechain(struct Object *ob, bPoseChannel *pchan_tip)
{
bPoseChannel *curchan, *pchan_root=NULL, *chanlist[256];
PoseChain *chain;
bConstraint *con;
bKinematicConstraint *data;
int a, segcount= 0;
/* find IK constraint, and validate it */
for(con= pchan_tip->constraints.first; con; con= con->next) {
if(con->type==CONSTRAINT_TYPE_KINEMATIC) break;
}
if(con==NULL) return;
if(con->flag & CONSTRAINT_DISABLE) return; // not sure...
data=(bKinematicConstraint*)con->data;
if(data->tar==NULL) return;
if(data->tar->type==OB_ARMATURE && data->subtarget[0]==0) return;
/* Find the chain's root & count the segments needed */
for (curchan = pchan_tip; curchan; curchan=curchan->parent){
pchan_root = curchan;
/* tip is not in the chain */
if (curchan!=pchan_tip){
chanlist[segcount]=curchan;
segcount++;
}
if(segcount>255) break; // also weak
if (!(curchan->bone->flag & BONE_IK_TOPARENT))
break;
}
if (!segcount) return;
/* setup the chain data */
chain = MEM_callocN(sizeof(PoseChain), "posechain");
chain->totchannel= segcount;
chain->solver = IK_CreateChain();
chain->con= con;
chain->iterations = data->iterations;
chain->tolerance = data->tolerance;
chain->pchanchain= MEM_callocN(segcount*sizeof(void *), "channel chain");
for(a=0; a<segcount; a++) {
chain->pchanchain[a]= chanlist[segcount-a-1];
}
/* AND! link the chain to the root */
BLI_addtail(&pchan_root->chain, chain);
}
/* called from within the core where_is_pose loop, all animsystems and constraints
were executed & assigned. Now as last we do an IK pass */
static void execute_posechain(Object *ob, PoseChain *chain)
{
IK_Segment_Extern *segs;
bPoseChannel *pchan;
float R_parmat[3][3];
float iR_parmat[3][3];
float R_bonemat[3][3];
float rootmat[4][4], imat[4][4];
float size[3];
int curseg;
/* first set the goal inverse transform, assuming the root of chain was done ok! */
pchan= chain->pchanchain[0];
Mat4One(rootmat);
VECCOPY(rootmat[3], pchan->pose_head);
Mat4MulMat4 (imat, rootmat, ob->obmat);
Mat4Invert (chain->goalinv, imat);
/* and set and transform goal */
get_constraint_target_matrix(chain->con, TARGET_BONE, NULL, rootmat, size, 1.0); // 1.0=ctime
VECCOPY (chain->goal, rootmat[3]);
/* do we need blending? */
if(chain->con->enforce!=1.0) {
float vec[3];
float fac= chain->con->enforce;
float mfac= 1.0-fac;
pchan= chain->pchanchain[chain->totchannel-1]; // last bone
VECCOPY(vec, pchan->pose_tail);
Mat4MulVecfl(ob->obmat, vec); // world space
chain->goal[0]= fac*chain->goal[0] + mfac*vec[0];
chain->goal[1]= fac*chain->goal[1] + mfac*vec[1];
chain->goal[2]= fac*chain->goal[2] + mfac*vec[2];
}
Mat4MulVecfl (chain->goalinv, chain->goal);
/* Now we construct the IK segments */
segs = MEM_callocN (sizeof(IK_Segment_Extern)*chain->totchannel, "iksegments");
for (curseg=0; curseg<chain->totchannel; curseg++){
pchan= chain->pchanchain[curseg];
/* Get the matrix that transforms from prevbone into this bone */
Mat3CpyMat4(R_bonemat, pchan->pose_mat);
if (pchan->parent && (pchan->bone->flag & BONE_IK_TOPARENT)) {
Mat3CpyMat4(R_parmat, pchan->parent->pose_mat);
}
else
Mat3One (R_parmat);
Mat3Inv(iR_parmat, R_parmat);
/* Mult and Copy the matrix into the basis and transpose (IK lib likes it) */
Mat3MulMat3((void *)segs[curseg].basis, iR_parmat, R_bonemat);
Mat3Transp((void *)segs[curseg].basis);
/* Fill out the IK segment */
segs[curseg].length = pchan->bone->length;
}
/* Solve the chain */
IK_LoadChain(chain->solver, segs, chain->totchannel);
IK_SolveChain(chain->solver, chain->goal, chain->tolerance,
chain->iterations, 0.1f, chain->solver->segments);
/* not yet free! */
}
void free_posechain (PoseChain *chain)
{
if (chain->solver) {
MEM_freeN (chain->solver->segments);
chain->solver->segments = NULL;
IK_FreeChain(chain->solver);
}
if(chain->pchanchain) MEM_freeN(chain->pchanchain);
MEM_freeN(chain);
}
/* ********************** THE POSE SOLVER ******************* */
/* loc/rot/size to mat4 */
/* used in constraint.c too */
void chan_calc_mat(bPoseChannel *chan)
{
float smat[3][3];
float rmat[3][3];
float tmat[3][3];
SizeToMat3(chan->size, smat);
NormalQuat(chan->quat);
QuatToMat3(chan->quat, rmat);
Mat3MulMat3(tmat, rmat, smat);
Mat4CpyMat3(chan->chan_mat, tmat);
/* prevent action channels breaking chains */
/* need to check for bone here, CONSTRAINT_TYPE_ACTION uses this call */
if (chan->bone==NULL || !(chan->bone->flag & BONE_IK_TOPARENT)) {
VECCOPY(chan->chan_mat[3], chan->loc);
}
}
/* transform from bone(b) to bone(b+1), store in chan_mat */
static void make_dmats(bPoseChannel *pchan)
{
if (pchan->parent) {
float iR_parmat[4][4];
Mat4Invert(iR_parmat, pchan->parent->pose_mat);
Mat4MulMat4(pchan->chan_mat, pchan->pose_mat, iR_parmat); // delta mat
}
else Mat4CpyMat4(pchan->chan_mat, pchan->pose_mat);
}
/* applies IK matrix to pchan, IK is done separated */
/* formula: pose_mat(b) = pose_mat(b-1) * diffmat(b-1, b) * ik_mat(b) */
/* to make this work, the diffmats have to be precalculated! Stored in chan_mat */
static void where_is_ik_bone(bPoseChannel *pchan, float ik_mat[][3]) // nr = to detect if this is first bone
{
float vec[3], ikmat[4][4];
Mat4CpyMat3(ikmat, ik_mat);
if (pchan->parent)
Mat4MulSerie(pchan->pose_mat, pchan->parent->pose_mat, pchan->chan_mat, ikmat, NULL, NULL, NULL, NULL, NULL);
else
Mat4MulMat4(pchan->pose_mat, ikmat, pchan->chan_mat);
/* calculate head */
VECCOPY(pchan->pose_head, pchan->pose_mat[3]);
/* calculate tail */
VECCOPY(vec, pchan->pose_mat[1]);
VecMulf(vec, pchan->bone->length);
VecAddf(pchan->pose_tail, pchan->pose_head, vec);
pchan->flag |= POSE_DONE;
}
/* The main armature solver, does all constraints excluding IK */
/* pchan is validated, as having bone and parent pointer */
static void where_is_pose_bone(Object *ob, bPoseChannel *pchan)
{
Bone *bone, *parbone;
bPoseChannel *parchan;
float vec[3], ctime= 1.0; // ctime todo
/* set up variables for quicker access below */
bone= pchan->bone;
parbone= bone->parent;
parchan= pchan->parent;
/* this gives a chan_mat with actions (ipos) results */
chan_calc_mat(pchan);
/* construct the posemat based on PoseChannels, that we do before applying constraints */
/* pose_mat(b)= pose_mat(b-1) * yoffs(b-1) * d_root(b) * bone_mat(b) * chan_mat(b) */
if(parchan) {
float offs_bone[4][4]; // yoffs(b-1) + root(b) + bonemat(b)
/* bone transform itself */
Mat4CpyMat3(offs_bone, bone->bone_mat);
/* The bone's root offset (is in the parent's coordinate system) */
VECCOPY(offs_bone[3], bone->head);
/* Get the length translation of parent (length along y axis) */
offs_bone[3][1]+= parbone->length;
/* Compose the matrix for this bone */
Mat4MulSerie(pchan->pose_mat, parchan->pose_mat, offs_bone, pchan->chan_mat, NULL, NULL, NULL, NULL, NULL);
}
else
Mat4MulMat4(pchan->pose_mat, pchan->chan_mat, bone->arm_mat);
/* Do constraints */
if(pchan->constraints.first) {
static Object conOb;
static int initialized= 0;
float vec[3];
VECCOPY(vec, pchan->pose_mat[3]);
/* Build a workob to pass the bone to the constraint solver */
if(initialized==0) {
memset(&conOb, 0, sizeof(Object));
initialized= 1;
}
conOb.size[0]= conOb.size[1]= conOb.size[2]= 1.0;
conOb.data = ob->data;
conOb.type = ob->type;
conOb.parent = ob; // ik solver retrieves the armature that way !?!?!?!
conOb.pose= ob->pose; // needed for retrieving pchan
conOb.trackflag = ob->trackflag;
conOb.upflag = ob->upflag;
/* Collect the constraints from the pose (listbase copy) */
conOb.constraints = pchan->constraints;
/* conOb.obmat takes bone to worldspace */
Mat4MulMat4 (conOb.obmat, pchan->pose_mat, ob->obmat);
/* Solve */
solve_constraints (&conOb, TARGET_BONE, (void*)pchan, ctime); // ctime doesnt alter objects
/* Take out of worldspace */
Mat4MulMat4 (pchan->pose_mat, conOb.obmat, ob->imat);
/* prevent constraints breaking a chain */
if(pchan->bone->flag & BONE_IK_TOPARENT)
VECCOPY(pchan->pose_mat[3], vec);
}
/* calculate head */
VECCOPY(pchan->pose_head, pchan->pose_mat[3]);
/* calculate tail */
VECCOPY(vec, pchan->pose_mat[1]);
VecMulf(vec, bone->length);
VecAddf(pchan->pose_tail, pchan->pose_head, vec);
}
/* This only reads anim data from channels, and writes to channels */
/* This is the only function adding poses */
void where_is_pose (Object *ob)
{
bArmature *arm;
Bone *bone;
bPoseChannel *pchan, *next;
float imat[4][4];
// float ctime= (float)G.scene->r.cfra; /* time only applies constraint location on curve path (now) */
arm = get_armature(ob);
if(arm==NULL) return;
if(ob->pose==NULL || (ob->pose->flag & POSE_RECALC))
armature_rebuild_pose(ob, arm);
// printf("re-evaluate pose %s\n", ob->id.name);
/* In restposition we read the data from the bones */
if(arm->flag & ARM_RESTPOS) {
for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
bone= pchan->bone;
if(bone) {
Mat4CpyMat4(pchan->pose_mat, bone->arm_mat);
VECCOPY(pchan->pose_head, bone->arm_head);
VECCOPY(pchan->pose_tail, bone->arm_tail);
}
}
}
else {
Mat4Invert(ob->imat, ob->obmat); // imat is needed
/* 1. construct the PoseChains, clear flags */
for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
pchan->flag &= ~POSE_DONE;
if(pchan->constflag & PCHAN_HAS_IK) // flag is set on editing constraints
initialize_posechain(ob, pchan); // will attach it to root!
}
/* 2. the main loop, channels are already hierarchical sorted from root to children */
for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
if(!(pchan->flag & POSE_DONE)) {
/* 3. if we find an IK root, we handle it separated */
if(pchan->chain.first) {
while(pchan->chain.first) {
PoseChain *chain= pchan->chain.first;
int a;
/* 4. walk over the chain for regular solving */
for(a=0; a<chain->totchannel; a++) {
if(!(chain->pchanchain[a]->flag & POSE_DONE)) // successive chains can set the flag
where_is_pose_bone(ob, chain->pchanchain[a]);
}
/* 5. execute the IK solver */
execute_posechain(ob, chain); // calculates 3x3 difference matrices
/* 6. apply the differences to the channels, we calculate the original differences first */
for(a=0; a<chain->totchannel; a++)
make_dmats(chain->pchanchain[a]);
for(a=0; a<chain->totchannel; a++)
where_is_ik_bone(chain->pchanchain[a], (void *)chain->solver->segments[a].basis_change);
// (sets POSE_DONE)
/* 6. and free */
BLI_remlink(&pchan->chain, chain);
free_posechain(chain);
}
}
else where_is_pose_bone(ob, pchan);
}
}
}
/* calculating deform matrices */
for(pchan= ob->pose->chanbase.first; pchan; pchan= next) {
next= pchan->next;
if(pchan->bone) {
Mat4Invert(imat, pchan->bone->arm_mat);
Mat4MulMat4(pchan->chan_mat, imat, pchan->pose_mat);
}
}
}
/* ****************** Game Blender functions, called by engine ************** */
void GB_build_mats (float parmat[][4], float obmat[][4], float premat[][4], float postmat[][4])
{
float obinv[4][4];
Mat4Invert(obinv, obmat);
Mat4CpyMat4(premat, obmat);
Mat4MulMat4(postmat, parmat, obinv);
Mat4Invert (premat, postmat);
}
void GB_init_armature_deform(ListBase *defbase, float premat[][4], float postmat[][4])
{
g_defbase = defbase;
Mat4CpyMat4 (g_premat, premat);
Mat4CpyMat4 (g_postmat, postmat);
}
void GB_validate_defgroups (Mesh *mesh, ListBase *defbase)
{
/* Should only be called when the mesh or armature changes */
int j, i;
MDeformVert *dvert;
for (j=0; j<mesh->totvert; j++){
dvert = mesh->dvert+j;
for (i=0; i<dvert->totweight; i++)
dvert->dw[i].data = ((bDeformGroup*)BLI_findlink (defbase, dvert->dw[i].def_nr))->data;
}
}
void GB_calc_armature_deform (float *co, MDeformVert *dvert)
{
float vec[3]={0, 0, 0};
float contrib = 0;
int i;
// bPoseChannel *pchan;
Mat4MulVecfl(g_premat, co);
for (i=0; i<dvert->totweight; i++){
// pchan = (bPoseChannel *)dvert->dw[i].data;
// if (pchan) calc_bone_deform (pchan, dvert->dw[i].weight, vec, co, &contrib);
}
if (contrib){
vec[0]/=contrib;
vec[1]/=contrib;
vec[2]/=contrib;
}
VecAddf (co, vec, co);
Mat4MulVecfl(g_postmat, co);
}
/* ****************** END Game Blender functions, called by engine ************** */
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